A study on motion control of a robotic endoscope holder using speech recognition

Kateryna Zinchenko, Chien Yu Wu, Kai-Tai Song

研究成果: Conference contribution

3 引文 斯高帕斯(Scopus)

摘要

This paper presents a design of speech recognition interface for a robotic endoscope holder for abdominal Minimally Invasive Surgery(MIS). A set of seven voice commands are used to control 3 degree of freedom(DOF) robotic arm with remote center of motion(RCM). Speech recognition algorithm was implemented on Ubuntu OS using Pocket Sphinx and achieved 90% success rate. Command signal was delivered to the robotic holder using serial port communication through RS232 cable. Experimental results show that the proposed control strategy has navigation precision up to 2.5mm or 7.7° in horizontal direction, 1.8mm or 3.15° in vertical direction and 9 mm precision during insertion task with camera tip located at distance of 5 cm after RCM point. Average latency between two consecutive commands was 3.34s.

原文English
主出版物標題Proceedings - 2016 IEEE International Conference on Industrial Technology, ICIT 2016
發行者Institute of Electrical and Electronics Engineers Inc.
頁面1472-1475
頁數4
ISBN(電子)9781467380751
DOIs
出版狀態Published - 19 五月 2016
事件IEEE International Conference on Industrial Technology, ICIT 2016 - Taipei, Taiwan
持續時間: 14 三月 201617 三月 2016

出版系列

名字Proceedings of the IEEE International Conference on Industrial Technology
2016-May

Conference

ConferenceIEEE International Conference on Industrial Technology, ICIT 2016
國家Taiwan
城市Taipei
期間14/03/1617/03/16

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    Zinchenko, K., Wu, C. Y., & Song, K-T. (2016). A study on motion control of a robotic endoscope holder using speech recognition. 於 Proceedings - 2016 IEEE International Conference on Industrial Technology, ICIT 2016 (頁 1472-1475). [7474976] (Proceedings of the IEEE International Conference on Industrial Technology; 卷 2016-May). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICIT.2016.7474976